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Merge branch 'main' into antoine/blueprint-tree-shift-click-test
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@abey79
abey79 committed Feb 11, 2025
2 parents 1c346e9 + 9523e43 commit 2faf0dd
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2 changes: 0 additions & 2 deletions ARCHITECTURE.md
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Expand Up @@ -194,9 +194,7 @@ Update instructions:
| re_data_source | Handles loading of Rerun data from different sources |
| re_grpc_client | Communicate with the Rerun Data Platform over gRPC |
| re_grpc_server | Host an in-memory Storage Node |
| re_sdk_comms | TCP communication between Rerun SDK and Rerun Server |
| re_web_viewer_server | Serves the Rerun web viewer (Wasm and HTML) over HTTP |
| re_ws_comms | WebSocket communication library (encoding, decoding, client, server) between a Rerun server and Viewer |

### Build support

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131 changes: 36 additions & 95 deletions Cargo.lock
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Expand Up @@ -1503,6 +1503,26 @@ dependencies = [
"tiny-keccak",
]

[[package]]
name = "const_format"
version = "0.2.34"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "126f97965c8ad46d6d9163268ff28432e8f6a1196a55578867832e3049df63dd"
dependencies = [
"const_format_proc_macros",
]

[[package]]
name = "const_format_proc_macros"
version = "0.2.34"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1d57c2eccfb16dbac1f4e61e206105db5820c9d26c3c472bc17c774259ef7744"
dependencies = [
"proc-macro2",
"quote",
"unicode-xid",
]

[[package]]
name = "const_soft_float"
version = "0.1.4"
Expand Down Expand Up @@ -1740,6 +1760,7 @@ dependencies = [
"parking_lot",
"re_crash_handler",
"re_error",
"re_grpc_server",
"rerun",
"serde",
"tokio",
Expand Down Expand Up @@ -1767,8 +1788,9 @@ version = "0.23.0-alpha.1+dev"
dependencies = [
"mimalloc",
"re_crash_handler",
"re_sdk_comms",
"re_grpc_server",
"re_viewer",
"tokio",
]

[[package]]
Expand Down Expand Up @@ -1805,12 +1827,6 @@ dependencies = [
"syn 2.0.87",
]

[[package]]
name = "data-encoding"
version = "2.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e8566979429cf69b49a5c740c60791108e86440e8be149bbea4fe54d2c32d6e2"

[[package]]
name = "data-url"
version = "0.3.1"
Expand Down Expand Up @@ -2405,29 +2421,15 @@ dependencies = [
"pin-project-lite",
]

[[package]]
name = "ewebsock"
version = "0.8.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "679247b4a005c82218a5f13b713239b0b6d484ec25347a719f5b7066152a748a"
dependencies = [
"document-features",
"js-sys",
"log",
"tungstenite",
"wasm-bindgen",
"wasm-bindgen-futures",
"web-sys",
]

[[package]]
name = "extend_viewer_ui"
version = "0.23.0-alpha.1+dev"
dependencies = [
"mimalloc",
"re_crash_handler",
"re_sdk_comms",
"re_grpc_server",
"re_viewer",
"tokio",
]

[[package]]
Expand Down Expand Up @@ -5996,7 +5998,6 @@ dependencies = [
"re_log_types",
"re_smart_channel",
"re_tracing",
"re_ws_comms",
]

[[package]]
Expand Down Expand Up @@ -6172,6 +6173,7 @@ dependencies = [
name = "re_grpc_server"
version = "0.23.0-alpha.1+dev"
dependencies = [
"parking_lot",
"re_build_info",
"re_byte_size",
"re_chunk",
Expand All @@ -6181,6 +6183,7 @@ dependencies = [
"re_log_types",
"re_memory",
"re_protos",
"re_smart_channel",
"re_tracing",
"re_types",
"tokio",
Expand Down Expand Up @@ -6495,6 +6498,7 @@ name = "re_sdk"
version = "0.23.0-alpha.1+dev"
dependencies = [
"ahash",
"const_format",
"crossbeam",
"document-features",
"itertools 0.13.0",
Expand All @@ -6512,36 +6516,20 @@ dependencies = [
"re_chunk_store",
"re_data_loader",
"re_grpc_client",
"re_grpc_server",
"re_log",
"re_log_encoding",
"re_log_types",
"re_memory",
"re_sdk_comms",
"re_smart_channel",
"re_types_core",
"re_web_viewer_server",
"re_ws_comms",
"similar-asserts",
"thiserror 1.0.65",
"tokio",
"webbrowser",
]

[[package]]
name = "re_sdk_comms"
version = "0.23.0-alpha.1+dev"
dependencies = [
"ahash",
"crossbeam",
"document-features",
"rand",
"re_build_info",
"re_log",
"re_log_encoding",
"re_log_types",
"re_smart_channel",
"thiserror 1.0.65",
]

[[package]]
name = "re_selection_panel"
version = "0.23.0-alpha.1+dev"
Expand Down Expand Up @@ -7110,7 +7098,6 @@ dependencies = [
"re_memory",
"re_query",
"re_renderer",
"re_sdk_comms",
"re_selection_panel",
"re_smart_channel",
"re_time_panel",
Expand All @@ -7131,7 +7118,6 @@ dependencies = [
"re_viewer_context",
"re_viewport",
"re_viewport_blueprint",
"re_ws_comms",
"rfd",
"ron",
"serde",
Expand Down Expand Up @@ -7267,26 +7253,6 @@ dependencies = [
"tiny_http",
]

[[package]]
name = "re_ws_comms"
version = "0.23.0-alpha.1+dev"
dependencies = [
"anyhow",
"bincode",
"document-features",
"ewebsock",
"parking_lot",
"polling",
"re_format",
"re_log",
"re_log_types",
"re_memory",
"re_smart_channel",
"re_tracing",
"thiserror 1.0.65",
"tungstenite",
]

[[package]]
name = "redox_syscall"
version = "0.4.1"
Expand Down Expand Up @@ -7491,20 +7457,20 @@ dependencies = [
"re_error",
"re_format",
"re_format_arrow",
"re_grpc_server",
"re_log",
"re_log_encoding",
"re_log_types",
"re_memory",
"re_sdk",
"re_sdk_comms",
"re_smart_channel",
"re_tracing",
"re_types",
"re_video",
"re_viewer",
"re_web_viewer_server",
"re_ws_comms",
"similar-asserts",
"tokio",
"unindent",
]

Expand All @@ -7520,7 +7486,6 @@ dependencies = [
"re_log",
"re_memory",
"rerun",
"tokio",
]

[[package]]
Expand Down Expand Up @@ -7572,6 +7537,7 @@ dependencies = [
"re_chunk_store",
"re_dataframe",
"re_grpc_client",
"re_grpc_server",
"re_log",
"re_log_encoding",
"re_log_types",
Expand All @@ -7581,7 +7547,6 @@ dependencies = [
"re_sorbet",
"re_video",
"re_web_viewer_server",
"re_ws_comms",
"tokio",
"tokio-stream",
"tonic",
Expand Down Expand Up @@ -9141,8 +9106,11 @@ dependencies = [
"percent-encoding",
"pin-project",
"prost",
"rustls-native-certs",
"rustls-pemfile 2.2.0",
"socket2",
"tokio",
"tokio-rustls 0.26.0",
"tokio-stream",
"tower 0.4.13",
"tower-layer",
Expand Down Expand Up @@ -9315,27 +9283,6 @@ version = "0.25.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5902c5d130972a0000f60860bfbf46f7ca3db5391eddfedd1b8728bd9dc96c0e"

[[package]]
name = "tungstenite"
version = "0.24.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "18e5b8366ee7a95b16d32197d0b2604b43a0be89dc5fac9f8e96ccafbaedda8a"
dependencies = [
"byteorder",
"bytes",
"data-encoding",
"http 1.1.0",
"httparse",
"log",
"rand",
"rustls 0.23.18",
"rustls-pki-types",
"sha1",
"thiserror 1.0.65",
"utf-8",
"webpki-roots 0.26.6",
]

[[package]]
name = "twox-hash"
version = "1.6.3"
Expand Down Expand Up @@ -9506,12 +9453,6 @@ dependencies = [
"tiny-skia-path",
]

[[package]]
name = "utf-8"
version = "0.7.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"

[[package]]
name = "utf16_iter"
version = "1.0.5"
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4 changes: 2 additions & 2 deletions Cargo.toml
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Expand Up @@ -55,15 +55,14 @@ re_dataframe = { path = "crates/store/re_dataframe", version = "=0.23.0-alpha.1"
re_entity_db = { path = "crates/store/re_entity_db", version = "=0.23.0-alpha.1", default-features = false }
re_format_arrow = { path = "crates/store/re_format_arrow", version = "=0.23.0-alpha.1", default-features = false }
re_grpc_client = { path = "crates/store/re_grpc_client", version = "=0.23.0-alpha.1", default-features = false }
re_grpc_server = { path = "crates/store/re_grpc_server", version = "=0.23.0-alpha.1", default-features = false }
re_protos = { path = "crates/store/re_protos", version = "=0.23.0-alpha.1", default-features = false }
re_log_encoding = { path = "crates/store/re_log_encoding", version = "=0.23.0-alpha.1", default-features = false }
re_log_types = { path = "crates/store/re_log_types", version = "=0.23.0-alpha.1", default-features = false }
re_query = { path = "crates/store/re_query", version = "=0.23.0-alpha.1", default-features = false }
re_sdk_comms = { path = "crates/store/re_sdk_comms", version = "=0.23.0-alpha.1", default-features = false }
re_sorbet = { path = "crates/store/re_sorbet", version = "=0.23.0-alpha.1", default-features = false }
re_types = { path = "crates/store/re_types", version = "=0.23.0-alpha.1", default-features = false }
re_types_core = { path = "crates/store/re_types_core", version = "=0.23.0-alpha.1", default-features = false }
re_ws_comms = { path = "crates/store/re_ws_comms", version = "=0.23.0-alpha.1", default-features = false }

# crates/top:
re_sdk = { path = "crates/top/re_sdk", version = "=0.23.0-alpha.1", default-features = false }
Expand Down Expand Up @@ -177,6 +176,7 @@ clean-path = "0.2"
colored = "2.1"
comfy-table = { version = "7.0", default-features = false }
console_error_panic_hook = "0.1.6"
const_format = "0.2"
convert_case = "0.6"
criterion = "0.5"
crossbeam = "0.8"
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23 changes: 23 additions & 0 deletions crates/store/re_data_loader/src/lerobot.rs
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Expand Up @@ -352,6 +352,7 @@ impl LeRobotDatasetInfo {
pub struct Feature {
pub dtype: DType,
pub shape: Vec<usize>,
pub names: Option<Names>,
}

/// Data types supported for features in a `LeRobot` dataset.
Expand All @@ -366,6 +367,28 @@ pub enum DType {
Int64,
}

/// Name metadata for a feature in the `LeRobot` dataset.
///
/// The name metadata can consist of
/// - A flat list of names for each dimension of a feature (e.g., `["height", "width", "channel"]`).
/// - A list specific to motors (e.g., `{ "motors": ["motor_0", "motor_1", ...] }`).
#[derive(Debug, Serialize, Deserialize)]
#[serde(untagged)]
pub enum Names {
Motors { motors: Vec<String> },
List(Vec<String>),
}

impl Names {
/// Retrieves the name corresponding to a specific index within the `names` field of a feature.
pub fn name_for_index(&self, index: usize) -> Option<&String> {
match self {
Self::Motors { motors } => motors.get(index),
Self::List(items) => items.get(index),
}
}
}

// TODO(gijsd): Do we want to stream in episodes or tasks?
#[cfg(not(target_arch = "wasm32"))]
fn load_jsonl_file<D>(filepath: impl AsRef<Path>) -> Result<Vec<D>, LeRobotError>
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